EP0358139A2 - Système et méthode de régulation - Google Patents

Système et méthode de régulation Download PDF

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Publication number
EP0358139A2
EP0358139A2 EP89116271A EP89116271A EP0358139A2 EP 0358139 A2 EP0358139 A2 EP 0358139A2 EP 89116271 A EP89116271 A EP 89116271A EP 89116271 A EP89116271 A EP 89116271A EP 0358139 A2 EP0358139 A2 EP 0358139A2
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EP
European Patent Office
Prior art keywords
signal
control
value
control deviation
output
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89116271A
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German (de)
English (en)
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EP0358139B1 (fr
EP0358139A3 (fr
Inventor
Friedrich Schwamm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MTU Aero Engines GmbH
Original Assignee
MTU Motoren und Turbinen Union Muenchen GmbH
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Publication of EP0358139A2 publication Critical patent/EP0358139A2/fr
Publication of EP0358139A3 publication Critical patent/EP0358139A3/fr
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Publication of EP0358139B1 publication Critical patent/EP0358139B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
    • F02C9/26—Control of fuel supply
    • F02C9/28—Regulating systems responsive to plant or ambient parameters, e.g. temperature, pressure, rotor speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B5/00—Anti-hunting arrangements
    • G05B5/01—Anti-hunting arrangements electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2200/00—Mathematical features
    • F05D2200/10—Basic functions
    • F05D2200/11—Sum

Definitions

  • the invention relates to a control method and a control unit with a proportional and an integral branch in which a control deviation signal is obtained by forming a difference between a desired value and an actual value, and with the control deviation signal a proportional and, in parallel, an integral gain for obtaining an integral and a proportionally amplified control deviation signal is carried out and then an actuating signal is formed from the sum of the proportionally and integrally amplified control deviation signals.
  • Such a method or such a controller unit has become known from EP 92 425, which is used to control an aircraft gas turbine.
  • This is designed as a multi-variable control method, the speed of a gas generator shaft, a compressor outlet pressure, a useful turbine speed and a compressor inlet temperature being provided as control variables.
  • a throttle lever that can be adjusted by the pilot and these control variables, a certain fuel throughput is set as the manipulated value, which is injected into the combustion chamber of the gas turbine.
  • the actual values of the controlled variables measured in the engine are compared with setpoints for determining error signals.
  • the setpoints can be predefined, stored in the form of tables or functions, or predefined manually. Furthermore, these setpoints can be in the form of limit values, the control unit checking whether an actual value has reached or even exceeded the corresponding limit value.
  • the error signals determined are checked in the subsequent minimum selection to determine which error signal has the smallest size, i. H. which actual value comes closest to its setpoint (limit value). This winning smallest signal determines the control characteristic of the control unit, since none of the setpoints (limit values) should be exceeded.
  • the winning error signal is then passed to an amplifier with a proportional and integral component, the output of which controls a brake fluid flow valve.
  • a disadvantage of such a control method is that the engine under be at a desired change in the operating point certain conditions follow only with overshoots, which in this case is due to the fact that the control possibility of a fuel flow valve is physically limited. Such a valve has a certain maximum flow value that cannot be exceeded, ie more than "fully turned up" is not possible.
  • the error signal between the setpoint and actual value initially becomes just as large as the setpoint jump itself.
  • the control signal is usually so large that it is outside the physically effective one Limits of the fuel flow valve device.
  • the control deviation given to the integrator causes its output value (I value) to ramp up in accordance with the integrator gain.
  • I value output value
  • the integrator runs into saturation, so that both the P-value and the I-value become maximum and command a maximum adjustment speed.
  • the I value remains at "maximum acceleration” until the integrator input signal changes sign.
  • the integrator will then integrate down from its saturation value in accordance with the negative amount of the error signal.
  • overshoots or undershoots occur when there are large setpoint jumps. Since such exceedances of the target values (limit values) are not permissible without damage to the engine parts, appropriate safety must be provided.
  • the limit values specified as setpoints must therefore be below the physically possible limit values, as a result of which the engine does not have to be adjusted to the theoretically achievable limit values and therefore the technically possible performance data cannot be achieved.
  • the object of the present invention to specify a control method and a control unit of the generic type, by means of which an improved control of subsequent mechanical actuators is possible.
  • the actuating signal should only assume values that lie within the limits that can physically be processed by the subsequent actuating unit.
  • the method according to the invention has the advantage that constant values are applied to the limit value inputs, which represent the lower limit or the upper limit of the control signal that can be processed by the control unit.
  • the control signal will therefore not be outside the range defined by these limit values under any operating conditions, as a result of which an improved control behavior, in particular avoidance of overshoots, can be achieved.
  • This is due to the fact that, in contrast to conventional PI controllers, when the actual value approaches the setpoint, the integrator value is not on maximum acceleration or saturation, but on deceleration. Although the actual value has not yet reached the setpoint, the integrator already integrates in the opposite direction, so that the problem of overshoot due to integrator saturation does not occur at all. In contrast, in the small signal behavior, the P controller and the I controller work undisturbed by one another.
  • the integrator comprises a time averaging unit coupled to the integrator input, the output of which is connected to an integration summer.
  • the second input of the integration summer forms a memory coupled to the output of the minimum selection unit.
  • the method and the controller unit according to the invention is particularly advantageous for digital control devices of fast-reacting controlled systems, since the dead times can be reduced to a minimum due to the relatively low control program effort.
  • the method according to the invention is preferably used in a multi-variable control method in which a plurality of controlled variables are processed and a winning control deviation signal is determined by means of a minimum value / maximum value selection, which signal is supplied to the proportional and integral branches.
  • the setpoints are partially designed as limit values, which must not be exceeded, so that the signal that wins in the case of the smallest value / largest value selection wins that signal and influences the manipulated value that comes closest to the limit value.
  • a further advantageous embodiment of the control unit provides that the inputs of the proportional amplifier and integrator are each connected to separate minimum selection units which are acted upon in parallel by several control variables.
  • the control variables are particularly when used with a gas turbine engine, shaft speeds, temperatures and pressures at various measuring points of the gas turbine. Actual values are determined by means of sensors and compared with setpoints. For this purpose, actual values and setpoints are given to a summer, whereby a deviation signal is formed which is connected to the minimum selection units.
  • the setpoints can also represent maximum limit values that must not be exceeded during operation.
  • differential components are included in preferred or all control variables. For this purpose, the actual value is preferably fed to a differentiator and the output of the differentiator is fed to a summer together with the deviation signal.
  • a preferred development of the invention provides that the deviation signal and the differentiated actual value signal are connected in parallel to two summers via separate amplifiers, which in turn are coupled to the two minimum selection units.
  • different adjustment of the differential components to the P-branch and the I-branch of the following controller can be set by adjusting the gain factors.
  • the transient response of the various control variables can be optimally adjusted depending on the physical conditions.
  • a preferred application of the control circuit 1 according to the invention for controlling a gas turbine engine 2 is shown schematically.
  • the control unit 1 controls the fuel flow through the fuel valve 4 via the control line 3. From a storage tank (not shown) and a feed pump, fuel passes via the fuel line 5 and the fuel valve 4 into the combustion chamber 6 of the gas turbine engine 2, where it is mixed with compressed air and burned.
  • the gas turbine essentially has a high-pressure rotor 7 and a low-pressure rotor 8, each of which has a compressor and a turbine exhibit.
  • Measuring sensors 9a, 9b, 9c, 9d are measured at various points in the gas turbine engine 2 for determining actual values of the control variables used in the control unit 1.
  • the measuring sensor 9a measures the input conditions of the gas turbine engine 2, in particular the input pressure or the input temperature.
  • the measuring sensors 9b and 9c serve to determine the rotational speeds of the high-pressure rotor 7 and low-pressure rotor 8.
  • the measuring sensor 9d serves to determine the turbine temperature and / or the turbine pressure.
  • the measuring sensors 9a, 9b, 9c, 9d are coupled via measuring lines 10 to actual value inputs of the control unit 1.
  • the control unit 1 is shown in the block diagram.
  • the control unit 1 essentially has a number of setpoint inputs 11 and an equal number of actual value inputs 12.
  • the actual value inputs 12 are all coupled to measuring sensors 9a via lines 10, as shown in the example of the actual value input 12a.
  • the setpoint inputs 11 are, as shown in the example of the setpoint input 11a, connected to reference units 13 in which the setpoints or limit values of the individual controlled variables are stored.
  • the reference units 13 can be designed as actuators, for example a throttle control, or in the form of stored tables in which setpoints are specified as a function of state parameters.
  • the signals of the individual controlled variables supplied via the inputs 11 and 12 are processed essentially identically, which is shown by way of example with the inputs 11a and 12a in the frame 14 indicated by the dashed lines. However, deviations can be provided for individual control variables depending on their characteristics.
  • the setpoint input 11a and the actual value input 12a are connected to a summer 15, the output 16 of which represents a deviation signal of the actual value from the setpoint.
  • the output 16 is connected in parallel to two amplification units 17a and 17b, which in turn are coupled to summers 18a and 18b.
  • the actual value input is 12a coupled in parallel to the summer 15 with a differentiator 19, which differentiates the actual signal according to time.
  • the output of the differentiator 19 is in turn connected to the summers 18a and 18b via two amplification units 20a and 20b arranged in parallel.
  • the summer outputs 21a and 21b are connected to two minimum selection units 22a, 22b. Parallel to the summer outputs 21a and 21b, a plurality of further inputs 23a, 23b are provided, which are coupled to the further setpoint inputs 11 and actual value inputs 12 of the other controlled variables analogously to the inputs 11a and 12a.
  • the minimum selection unit 22a selects from among the inputs 21a, 23a the one whose signal has the lowest value, i. H. the actual value has already come closest to the associated setpoint or limit value.
  • the output of the minimum selection unit 22a is switched to a maximum selection unit 24a together with a part of the inputs 23a in order to achieve a delay limitation or a limitation to values which must not be undercut, such as minimum speeds, etc.
  • the minimum selection unit functions analogously 22b and maximum selection unit 24b of the lower (integral) branch.
  • the output of the first maximum selection unit 24a is connected to a proportional amplifier 25, the output 26 of which is in turn connected to a manipulated value summer 27.
  • the proportional amplifier 25 can be designed as a multiplier and a linearization function can be applied to it via the linearization unit 28.
  • the output of the second maximum selection unit 24b is connected to an integrator 30 via a multiplier 29.
  • the multiplier 29 is connected to a linearization unit 28b.
  • Linearization is required to compensate for the highly non-linear behavior of a jet engine. This is not just for ver improvement of control quality, but also to improve engine safety. The improved safety can be attributed to the fact that a linear system works equally well at all operating points, ie enables setpoint jumps and disturbance variables to be regulated equally well. The safety distance from the oscillation limit remains constant. However, this is not the case with a non-linear system. Due to the linearization, an almost linear behavior of the jet engine is achieved at every operating point.
  • the integrator 30 is connected on the one hand to the multiplier 29, and on the other hand via the line 31 to the output of the proportional amplifier 25. Furthermore, the integrator 30 is connected to two limit transmitters 32a, 32b, in which the lower and the upper limit value control signals which can be supplied to the fuel valve are stored. The output of the integrator 30 is connected to the manipulated value summer 27, the output of which forms the actuating signal which is fed to the fuel valve 4 (FIG. 1) via the control line 3.
  • the integrator 30 according to FIG. 2 is explained in more detail in FIG. 3.
  • the actual integration input 33 which is coupled to the output of the multiplier 29 (FIG. 2), is connected to a time averaging unit 34.
  • the output of the time averaging unit 34 is connected to a summer 35 together with the output of a storage unit 36.
  • the limit value transmitter 32a for the lower limit value is connected to a first summer 37a together with the proportional amplifier 25 via the proportional signal supplied via line 31 (FIG. 2).
  • the outputs of the summers 35 and 37a are fed to a maximum selection unit 38 which allows the signal of the two inputs to pass which has the larger value.
  • the limit transmitter 32b for the upper limit value is fed together with the line 31 to a second summer 37b, and its output is connected together with the output of the maximum selection unit 38 of a minimum selection unit 39.
  • the output of the minimum selection unit 39 is also connected in parallel on the one hand to the storage unit 36 and on the other hand to the manipulated value summer 27.
  • the proportional components supplied via line 31 have an insignificant effect on the upper and lower limit values, so that the integration signal formed in summer 35 is switched through to control value summer 27 via maximum selection unit 38 and minimum selection unit 39. Ordinary PI behavior can thus be achieved.
  • a limitation occurs in one of the selection units 38 or 39, so that the signal present at the output of the controller 30 limits the area between the limit values stored in the limit value transmitters 32a, 32b remains.
  • the outputs of the proportional amplifier and the integrator are not limited to this area in themselves, but a limitation only occurs when the sum is formed. The result of this is that if, for example, the proportional signal is already outside the limit values, the integral signal instead of integrating further countermeasures with the opposite sign.
  • the invention is not limited to the application shown in connection with a gas turbine engine.
  • any other application for a multi-size control system or a one-size control system can be equipped with the arrangement according to the invention.
  • Further preferred applications of the control unit according to the invention are examples Wise control of drives of all types, in which one or more limit values must be taken into account in addition to a variable setpoint. So z. B. in electric motors, internal combustion engines and generally in process controls.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
EP89116271A 1988-09-09 1989-09-04 Système et méthode de régulation Expired - Lifetime EP0358139B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3830805 1988-09-09
DE3830805A DE3830805A1 (de) 1988-09-09 1988-09-09 Regelverfahren

Publications (3)

Publication Number Publication Date
EP0358139A2 true EP0358139A2 (fr) 1990-03-14
EP0358139A3 EP0358139A3 (fr) 1991-05-29
EP0358139B1 EP0358139B1 (fr) 1993-06-16

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EP89116271A Expired - Lifetime EP0358139B1 (fr) 1988-09-09 1989-09-04 Système et méthode de régulation

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EP (1) EP0358139B1 (fr)
DE (2) DE3830805A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2742188A1 (fr) * 1995-12-09 1997-06-13 Mtu Muenchen Gmbh Dispositif de protection d'un turboreacteur contre les survitesses
EP0890888A1 (fr) * 1997-07-11 1999-01-13 Asea Brown Boveri AG Système de contrÔle pour contrÔler au moins une variable d'un processus et application d'un tel système
WO2000071876A1 (fr) * 1999-05-26 2000-11-30 General Electric Company Systeme de modification de la vitesse pour un moteur de turbine a gaz, destine a permettre la compensation de l'exces de poussee
US7184865B2 (en) 2003-01-21 2007-02-27 Rolls-Royce Deutschland Ltd & Co Kg Fault detection logic for engines
EP3112638A1 (fr) * 2015-07-02 2017-01-04 General Electric Company Procédé de commande d'un composant de système d'actionnement de position pour un moteur à turbine à gaz

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2549920C1 (ru) * 2014-04-29 2015-05-10 Федеральное государственное унитарное предприятие "Научно-производственный центр газотурбостроения "Салют" (ФГУП "НПЦ газотурбостроения "Салют") Способ управления газотурбинным двигателем
RU2592096C1 (ru) * 2015-01-29 2016-07-20 Федеральное агентство научных организаций Федеральное Государственное Бюджетное Научное Учреждение Всероссийский научно-исследовательский институт электрификации сельского хозяйства (ФГБНУ ВИЭСХ) Система измерения частоты вращения ротора микро газотурбинной установки с двигателем на основе турбокомпрессора от двс

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3672163A (en) * 1970-01-02 1972-06-27 Chandler Evans Inc Integral fuel control
DE2530494A1 (de) * 1974-07-09 1976-01-29 Lucas Industries Ltd Elektronisches kraftstoffregelsystem fuer gasturbinentriebwerke
EP0064437A1 (fr) * 1981-04-30 1982-11-10 AVIATION ELECTRIC Limited Système de contrôle de carburant pour une turbine à gaz
EP0092425A1 (fr) * 1982-04-19 1983-10-26 Colt Industries Inc Régulateur de combustible pour moteur à turbine à gaz
DE3402358A1 (de) * 1983-01-28 1984-08-02 General Electric Co., Schenectady, N.Y. Isochronische gasturbinen-drehzahlregelung
EP0199038A1 (fr) * 1985-04-19 1986-10-29 Allied Corporation Dispositif pour contrôler un moteur d'un système à turbine de puissance possédant plus qu'un seul moteur

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3672163A (en) * 1970-01-02 1972-06-27 Chandler Evans Inc Integral fuel control
DE2530494A1 (de) * 1974-07-09 1976-01-29 Lucas Industries Ltd Elektronisches kraftstoffregelsystem fuer gasturbinentriebwerke
EP0064437A1 (fr) * 1981-04-30 1982-11-10 AVIATION ELECTRIC Limited Système de contrôle de carburant pour une turbine à gaz
EP0092425A1 (fr) * 1982-04-19 1983-10-26 Colt Industries Inc Régulateur de combustible pour moteur à turbine à gaz
DE3402358A1 (de) * 1983-01-28 1984-08-02 General Electric Co., Schenectady, N.Y. Isochronische gasturbinen-drehzahlregelung
EP0199038A1 (fr) * 1985-04-19 1986-10-29 Allied Corporation Dispositif pour contrôler un moteur d'un système à turbine de puissance possédant plus qu'un seul moteur

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2742188A1 (fr) * 1995-12-09 1997-06-13 Mtu Muenchen Gmbh Dispositif de protection d'un turboreacteur contre les survitesses
EP0890888A1 (fr) * 1997-07-11 1999-01-13 Asea Brown Boveri AG Système de contrÔle pour contrÔler au moins une variable d'un processus et application d'un tel système
US6167690B1 (en) 1997-07-11 2001-01-02 Asea Brown Boveri Ag Control system for controlling at least one variable of a process as well as a use of such a control system
WO2000071876A1 (fr) * 1999-05-26 2000-11-30 General Electric Company Systeme de modification de la vitesse pour un moteur de turbine a gaz, destine a permettre la compensation de l'exces de poussee
US6487490B1 (en) 1999-05-26 2002-11-26 General Electric Company Speed modification system for gas turbine engine to allow trimming of excess
US7184865B2 (en) 2003-01-21 2007-02-27 Rolls-Royce Deutschland Ltd & Co Kg Fault detection logic for engines
EP3112638A1 (fr) * 2015-07-02 2017-01-04 General Electric Company Procédé de commande d'un composant de système d'actionnement de position pour un moteur à turbine à gaz
US9909442B2 (en) 2015-07-02 2018-03-06 General Electric Company Method of controlling a position actuation system component for a gas turbine engine

Also Published As

Publication number Publication date
DE3830805A1 (de) 1990-03-22
DE3830805C2 (fr) 1990-07-26
EP0358139B1 (fr) 1993-06-16
EP0358139A3 (fr) 1991-05-29
DE58904708D1 (de) 1993-07-22

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